rtabmap/.github/workflows/coverage.yml

name: Coverage

on:
  push:
    branches:
      - master
  pull_request:
    branches: 
      - '**'

concurrency:
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

permissions:
  contents: read
  id-token: write

env:
  BUILD_TYPE: Debug

jobs:
  coverage:
    name: Coverage (ubuntu-24.04)
    runs-on: ubuntu-24.04
    env:
      CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

    steps:
      - uses: actions/checkout@v4

      - name: Install Linux dependencies
        run: |
          DEBIAN_FRONTEND=noninteractive
          sudo apt-get update
          sudo apt-get install -y \
            lcov \
            libopencv-dev \
            libpcl-dev \
            git \
            cmake \
            software-properties-common \
            libyaml-cpp-dev

      - name: Configure CMake
        run: |
          cmake -B ${{ github.workspace }}/build \
            -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
            -DENABLE_COVERAGE=ON \
            -DBUILD_TESTING=ON \
            -DBUILD_APP=OFF \
            -DBUILD_TOOLS=OFF \
            -DBUILD_EXAMPLES=OFF \
            -DWITH_QT=OFF \
            -DWITH_PYTHON=OFF \
            -DWITH_CERES=OFF \
            -DWITH_G2O=OFF \
            -DWITH_GTSAM=OFF \
            -DWITH_MRPT=OFF \
            -DWITH_VERTIGO=OFF \
            -DWITH_CVSBA=OFF \
            -DWITH_POINTMATCHER=OFF \
            -DWITH_CCCORELIB=OFF \
            -DWITH_OPEN3D=OFF \
            -DWITH_LOAM=OFF \
            -DWITH_FLOAM=OFF \
            -DWITH_LIOSAM=OFF \
            -DWITH_FLYCAPTURE2=OFF \
            -DWITH_ZED=OFF \
            -DWITH_ZEDOC=OFF \
            -DWITH_REALSENSE=OFF

      - name: Build
        run: cmake --build ${{ github.workspace }}/build -j$(nproc)

      - name: Test
        working-directory: ${{ github.workspace }}/build
        run: |
          export LD_LIBRARY_PATH="${{ github.workspace }}/build/bin${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
          find ${{ github.workspace }}/build -name '*.gcda' -delete
          ctest --output-on-failure

      - name: Generate LCOV report
        run: |
          GCOV_VER="$(gcc -dumpversion | cut -d. -f1)"
          if command -v "gcov-${GCOV_VER}" >/dev/null 2>&1; then
            GCOV_TOOL="gcov-${GCOV_VER}"
          else
            GCOV_TOOL="gcov"
          fi
          LCOV_IGNORE=(--ignore-errors gcov,source,graph,mismatch,unused)

          lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \
            --capture \
            --directory ${{ github.workspace }}/build/corelib/src \
            --directory ${{ github.workspace }}/build/utilite/src \
            --output-file lcov.info

          lcov "${LCOV_IGNORE[@]}" --extract lcov.info \
            '${{ github.workspace }}/*' \
            --output-file lcov.info
          lcov "${LCOV_IGNORE[@]}" --remove lcov.info \
            '*/sqlite3/*' \
            '*/rtflann/*' \
            --output-file lcov.info

          lcov --summary lcov.info

      - name: HTML coverage report
        run: genhtml --ignore-errors source,mismatch lcov.info --output-directory coverage-html --legend --demangle-cpp

      - name: Upload HTML coverage artifact
        uses: actions/upload-artifact@v4
        with:
          name: coverage-html
          path: coverage-html
          retention-days: 14

      - name: Upload to Codecov
        if: ${{ env.CODECOV_TOKEN != '' }}
        uses: codecov/codecov-action@v5
        with:
          files: lcov.info
          token: ${{ env.CODECOV_TOKEN }}
          fail_ci_if_error: false